diff --git a/geometry/StereoCamera.cpp b/geometry/StereoCamera.cpp
index d6afea925..ce25dc74b 100644
--- a/geometry/StereoCamera.cpp
+++ b/geometry/StereoCamera.cpp
@@ -20,10 +20,11 @@
 using namespace std;
 using namespace gtsam;
 
-namespace gtsam{
+namespace gtsam {
 
 /* ************************************************************************* */
-StereoCamera::StereoCamera(const Pose3& leftCamPose, const Cal3_S2& K, double baseline) :
+StereoCamera::StereoCamera(const Pose3& leftCamPose, const Cal3_S2& K,
+		double baseline) :
 	leftCamPose_(leftCamPose), K_(K), baseline_(baseline) {
 	Vector calibration = K_.vector();
 	fx_ = calibration(0);
@@ -40,72 +41,52 @@ StereoPoint2 StereoCamera::project(const Point3& point,
 	Point3 cameraPoint = leftCamPose_.transform_to(point);
 
 	if (Dproject_stereo_pose) {
-		//Point2 intrinsic = project(camera.calibrated_, point);  // unused
+		Matrix D_cameraPoint_pose;
+		Point3 cameraPoint = pose().transform_to(point, D_cameraPoint_pose,
+				boost::none);
 
-		//Matrix D_intrinsic_pose = Dproject_pose(camera.calibrated_, point);
-		//**** above function call inlined
-		  Matrix D_cameraPoint_pose;
-		  Point3 cameraPoint = pose().transform_to(point, D_cameraPoint_pose, boost::none);
-		  
+		Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(cameraPoint); // 3x3 Jacobian
+		Matrix D_intrinsic_pose = D_intrinsic_cameraPoint * D_cameraPoint_pose;
 
-		  //Point2 intrinsic = project_to_camera(cameraPoint);  // unused
-		  Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(cameraPoint); // 3x3 Jacobian
-		
-
-		  Matrix D_intrinsic_pose = D_intrinsic_cameraPoint * D_cameraPoint_pose;
-
-		//****
-		//Matrix D_projection_intrinsic = Duncalibrate2(camera.K_, intrinsic);
-		Matrix D_projection_intrinsic = Duncalibrate2(K());  // 3x3
-
-		*Dproject_stereo_pose =  D_projection_intrinsic * D_intrinsic_pose;
+		Matrix D_projection_intrinsic = Duncalibrate2(K()); // 3x3
+		*Dproject_stereo_pose = D_projection_intrinsic * D_intrinsic_pose;
 	}
 
 	if (Dproject_stereo_point) {
-		//Point2 intrinsic = project(camera.calibrated_, point);   // unused
+		Matrix D_cameraPoint_point;
+		Point3 cameraPoint = pose().transform_to(point, boost::none,
+				D_cameraPoint_point);
 
-		//Matrix D_intrinsic_point = Dproject_point(camera.calibrated_, point);
-		//**** above function call inlined
-		  Matrix D_cameraPoint_point;
-		  Point3 cameraPoint = pose().transform_to(point, boost::none, D_cameraPoint_point);
-
-			//Point2 intrinsic = project_to_camera(cameraPoint);  // unused
-			Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(cameraPoint); // 3x3 Jacobian
-
-			Matrix D_intrinsic_point = D_intrinsic_cameraPoint * D_cameraPoint_point;
-
-		//****
-		//Matrix D_projection_intrinsic = Duncalibrate2(camera.K_, intrinsic);
-		Matrix D_projection_intrinsic = Duncalibrate2(K());  // 3x3
+		Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(cameraPoint); // 3x3 Jacobian
+		Matrix D_intrinsic_point = D_intrinsic_cameraPoint * D_cameraPoint_point;
 
+		Matrix D_projection_intrinsic = Duncalibrate2(K()); // 3x3
 		*Dproject_stereo_point = D_projection_intrinsic * D_intrinsic_point;
 	}
 
-
 	double d = 1.0 / cameraPoint.z();
-	double uL = cx_ + d * fx_ *  cameraPoint.x();
+	double uL = cx_ + d * fx_ * cameraPoint.x();
 	double uR = cx_ + d * fx_ * (cameraPoint.x() - baseline_);
-	double v  = cy_ + d * fy_ *  cameraPoint.y();
-	return StereoPoint2(uL,uR,v);
+	double v = cy_ + d * fy_ * cameraPoint.y();
+	return StereoPoint2(uL, uR, v);
 }
 
 /* ************************************************************************* */
 Matrix StereoCamera::Dproject_to_stereo_camera1(const Point3& P) const {
 	double d = 1.0 / P.z(), d2 = d * d;
-	//return Matrix_(2, 3, d, 0.0, -P.x() * d2, 0.0, d, -P.y() * d2);
-	return Matrix_(3, 3, d, 0.0, -P.x() * d2, d, 0.0, -(P.x()-baseline()) * d2, 0.0, d, -P.y() * d2);
+	return Matrix_(3, 3, d, 0.0, -P.x() * d2, d, 0.0, -(P.x() - baseline()) * d2,
+			0.0, d, -P.y() * d2);
 }
 
 /* ************************************************************************* */
 Matrix StereoCamera::Duncalibrate2(const Cal3_S2& K) {
-	Vector calibration = K.vector();  // I want fx, fx, fy
+	Vector calibration = K.vector();
 	Vector calibration2(3);
 	calibration2(0) = calibration(0);
 	calibration2(1) = calibration(0);
 	calibration2(2) = calibration(1);
 	return diag(calibration2);
-	
-}
-
+
+}
 
 }
diff --git a/geometry/tests/testStereoCamera.cpp b/geometry/tests/testStereoCamera.cpp
index 73d8e642b..128b450ae 100644
--- a/geometry/tests/testStereoCamera.cpp
+++ b/geometry/tests/testStereoCamera.cpp
@@ -34,7 +34,6 @@ TEST( StereoCamera, operators)
 /* ************************************************************************* */
 TEST( StereoCamera, project)
 {
-	double uL, uR, v;
 	// create a Stereo camera at the origin with focal length 1500, baseline 0.5m
 	// and principal point 320, 240 (for a hypothetical 640x480 sensor)
 	Cal3_S2 K(1500, 1500, 0, 320, 240);
@@ -67,8 +66,6 @@ TEST( StereoCamera, project)
 	StereoCamera stereoCam4(camPose4, K, 0.5);
 	StereoPoint2 result4 = stereoCam4.project(p4);
 	CHECK(assert_equal(StereoPoint2(320.0+300.0,320.0+150.0,240.0+300),result4));
-
-	// cout << "(uL,uR,v): ("<<result4(0)<<","<<result4(1)<<","<<result4(2)<<")" << endl;
 }
 
 /* ************************************************************************* */